We use the minADE, minFDE, MR, and DAC metrics, which are standard metrics used by the Argoverse leaderboard [1]}. minFDEK is the minimum displacement between the last waypoint of the ground truth trajectory and the last predicted waypoint of top K predicted trajectories. minADEK is the minimum average displacement between all waypoints of the ground truth trajectory and all predicted waypoints of top K predicted trajectories. MR-K represents the rate at which minFDEK exceeds 2 meters over the entire dataset. DACK represents the percentage of the top K predicted trajectories that do not leave the drivable area at any point. For minADE, minFDE, and MR, lower numbers are better. For DAC, higher numbers are better.
